That's a very specialized and simple octree class. That's the way it is intended to be, that's why no templates and stuff like this. More...

#include <orr_octree.h>

Classes
class	Node
Public Types
typedef pcl::PointCloud < pcl::PointXYZ >	PointCloudIn
typedef pcl::PointCloud < pcl::Normal >	PointCloudN
typedef pcl::PointCloud < pcl::PointXYZ >	PointCloudOut
Public Member Functions
void	build (const PointCloudIn &points, float voxel_size, const PointCloudN *normals=NULL, float enlarge_bounds=0.00001f)
	Creates an octree which encloses 'points' and with leaf size equal to 'voxel_size'. 'enlarge_bounds' makes sure that no points from the input will lie on the octree boundary by enlarging the bounds by that factor. For example, enlarge_bounds = 1 means that the bounds will be enlarged by 100%. The default value is fine.
void	build (const float *bounds, float voxel_size)
	Creates an empty octree with bounds at least as large as the ones provided as input and with leaf size equal to 'voxel_size'.
void	clear ()
ORROctree::Node *	createLeaf (float x, float y, float z)
	Creates the leaf containing p = (x, y, z) and returns a pointer to it, however, only if p lies within the octree bounds! A more general version which allows p to be out of bounds is not implemented yet. The method returns NULL if p is not within the root bounds. If the leaf containing p already exists nothing happens and method just returns a pointer to the leaf.
void	deleteBranch (Node *node)
	Deletes the branch 'node' is part of.
const float *	getBounds () const
void	getBounds (float b[6]) const
std::vector< ORROctree::Node * > &	getFullLeaves ()
	Returns a vector with all octree leaves which contain at least one point.
const std::vector < ORROctree::Node * > &	getFullLeaves () const
void	getFullLeavesIntersectedBySphere (const float p, float radius, std::list< ORROctree::Node > &out) const
	This method returns a super set of the full leavess which are intersected by the sphere with radius 'radius' and centered at 'p'. Pointers to the intersected full leaves are saved in 'out'. The method computes a super set in the sense that in general not all leaves saved in 'out' are really intersected by the sphere. The intersection test is based on the leaf radius (since its faster than checking all leaf corners and sides), so we report more leaves than we should, but still, this is a fair approximation.
void	getFullLeavesPoints (PointCloudOut &out) const
ORROctree::Node *	getLeaf (int i, int j, int k)
	Since the leaves are aligned in a rectilinear grid, each leaf has a unique id. The method returns the leaf with id [i, j, k] or NULL is no such leaf exists.
ORROctree::Node *	getLeaf (float x, float y, float z)
	Returns a pointer to the leaf containing p = (x, y, z) or NULL if no such leaf exists.
void	getNormalsOfFullLeaves (PointCloudN &out) const
ORROctree::Node *	getRandomFullLeafOnSphere (const float *p, float radius) const
	Randomly chooses and returns a full leaf that is intersected by the sphere with center 'p' and 'radius'. Returns NULL if no leaf is intersected by that sphere.
ORROctree::Node *	getRoot ()
float	getVoxelSize () const
void	insertNeighbors (Node *node)
	ORROctree ()
virtual	~ORROctree ()
Protected Attributes
float	bounds_ [6]
std::vector< Node * >	full_leaves_
Node *	root_
int	tree_levels_
float	voxel_size_

Detailed Description

That's a very specialized and simple octree class. That's the way it is intended to be, that's why no templates and stuff like this.

Author:: Chavdar Papazov

Definition at line 71 of file orr_octree.h.

Member Typedef Documentation

typedef pcl::PointCloud<pcl::PointXYZ> pcl::recognition::ORROctree::PointCloudIn

Definition at line 74 of file orr_octree.h.

typedef pcl::PointCloud<pcl::Normal> pcl::recognition::ORROctree::PointCloudN

Definition at line 76 of file orr_octree.h.

typedef pcl::PointCloud<pcl::PointXYZ> pcl::recognition::ORROctree::PointCloudOut

Definition at line 75 of file orr_octree.h.

Constructor & Destructor Documentation

pcl::recognition::ORROctree::ORROctree ( )

Definition at line 51 of file orr_octree.cpp.

virtual pcl::recognition::ORROctree::~ORROctree ( ) [inline, virtual]

Definition at line 282 of file orr_octree.h.

Member Function Documentation

void pcl::recognition::ORROctree::build	(	const PointCloudIn &	points,
		float	voxel_size,
		const PointCloudN *	normals = `NULL`,
		float	enlarge_bounds = `0.00001f`
	)

Creates an octree which encloses 'points' and with leaf size equal to 'voxel_size'. 'enlarge_bounds' makes sure that no points from the input will lie on the octree boundary by enlarging the bounds by that factor. For example, enlarge_bounds = 1 means that the bounds will be enlarged by 100%. The default value is fine.

Definition at line 116 of file orr_octree.cpp.

void pcl::recognition::ORROctree::build	(	const float *	bounds,
		float	voxel_size
	)

Creates an empty octree with bounds at least as large as the ones provided as input and with leaf size equal to 'voxel_size'.

Definition at line 75 of file orr_octree.cpp.

void pcl::recognition::ORROctree::clear ( )

Definition at line 61 of file orr_octree.cpp.

ORROctree::Node* pcl::recognition::ORROctree::createLeaf	(	float	x,
		float	y,
		float	z
	)		`[inline]`

Creates the leaf containing p = (x, y, z) and returns a pointer to it, however, only if p lies within the octree bounds! A more general version which allows p to be out of bounds is not implemented yet. The method returns NULL if p is not within the root bounds. If the leaf containing p already exists nothing happens and method just returns a pointer to the leaf.

Definition at line 304 of file orr_octree.h.

void pcl::recognition::ORROctree::deleteBranch ( Node * node )

Deletes the branch 'node' is part of.

Definition at line 380 of file orr_octree.cpp.

const float* pcl::recognition::ORROctree::getBounds ( ) const [inline]

Definition at line 431 of file orr_octree.h.

void pcl::recognition::ORROctree::getBounds ( float b[6] ) const [inline]

Definition at line 437 of file orr_octree.h.

std::vector<ORROctree::Node*>& pcl::recognition::ORROctree::getFullLeaves ( ) [inline]

Returns a vector with all octree leaves which contain at least one point.

Definition at line 416 of file orr_octree.h.

const std::vector<ORROctree::Node*>& pcl::recognition::ORROctree::getFullLeaves ( ) const [inline]

Definition at line 419 of file orr_octree.h.

void pcl::recognition::ORROctree::getFullLeavesIntersectedBySphere	(	const float *	p,
		float	radius,
		std::list< ORROctree::Node * > &	out
	)		const

This method returns a super set of the full leavess which are intersected by the sphere with radius 'radius' and centered at 'p'. Pointers to the intersected full leaves are saved in 'out'. The method computes a super set in the sense that in general not all leaves saved in 'out' are really intersected by the sphere. The intersection test is based on the leaf radius (since its faster than checking all leaf corners and sides), so we report more leaves than we should, but still, this is a fair approximation.

Definition at line 293 of file orr_octree.cpp.

void pcl::recognition::ORROctree::getFullLeavesPoints ( PointCloudOut & out ) const

Definition at line 416 of file orr_octree.cpp.

ORROctree::Node* pcl::recognition::ORROctree::getLeaf	(	int	i,
		int	j,
		int	k
	)		`[inline]`

Since the leaves are aligned in a rectilinear grid, each leaf has a unique id. The method returns the leaf with id [i, j, k] or NULL is no such leaf exists.

Definition at line 365 of file orr_octree.h.

ORROctree::Node* pcl::recognition::ORROctree::getLeaf	(	float	x,
		float	y,
		float	z
	)		`[inline]`

Returns a pointer to the leaf containing p = (x, y, z) or NULL if no such leaf exists.

Definition at line 377 of file orr_octree.h.

void pcl::recognition::ORROctree::getNormalsOfFullLeaves ( PointCloudN & out ) const

Definition at line 433 of file orr_octree.cpp.

ORROctree::Node * pcl::recognition::ORROctree::getRandomFullLeafOnSphere	(	const float *	p,
		float	radius
	)		const

Randomly chooses and returns a full leaf that is intersected by the sphere with center 'p' and 'radius'. Returns NULL if no leaf is intersected by that sphere.

Definition at line 332 of file orr_octree.cpp.

ORROctree::Node* pcl::recognition::ORROctree::getRoot ( ) [inline]

Definition at line 428 of file orr_octree.h.

float pcl::recognition::ORROctree::getVoxelSize ( ) const [inline]

Definition at line 443 of file orr_octree.h.

void pcl::recognition::ORROctree::insertNeighbors ( Node * node ) [inline]

Definition at line 446 of file orr_octree.h.